Remote controlled crane



March 16, 1965 J. H. PROVINCE REMOTE CONTROLLED CRANE 2 Sheets-Sheet 1 Filed NOV. 27. 1961 mm QN QB mm m mm NM 0 0 om o 8 Q o INVENTOR. J. H. PROVINCE A 7' TORNE V5 United States Patent ()fi ice 3,173,550 Patented Mar. 16, 1965 3,173,550 REMOTE CONTROLLED CRANE John H. Province, Bartlesville, Okla, assignor to Phillips Petroleum Company, a corporation of Delaware Filed Nov. 27, 1961, Ser. No. 155,069 1 Claim. (Cl. 21235) This invention relates to a remotely controlled hoist. In one aspect the invention relates to a combination of a hoisthaving pressure fluid means for operating the various components and means for actuating the components remotely from a control box connected with a hoist through through a flexible conduit. In another aspect this invention relates to a method for remotely controlling a hoist by remotely controlling the application of pressure fluid to the various componentsof the hoist by transmitting actuation Signals through a flexible signal transmission zone.

When using a poweredhoist often it is necessary to provide at least two assistants in addition to the hoist operator to attach the hoisting line to the load to be lifted, guide the load to its desired location, etc. For example, where a hydraulic operated crane .is used to pick up and load pipe in the field, customarily at least three men are required, one to operate the hoist and two to attach the hoisting line to each joint of pipe and guide the pipe to the desired location, for example, on a truck bed. I have found that more elficient utilization of labor can be accomplished by providing a portable remote control box which can be carried easily by one man, who can then both control the hoist and assist in connecting the hoisting line to the load and in guiding the load.

An object of my invention is to provide a powered hoist with a portable remote control unit.

Another object of my invention is to provide an improvedrmethod of operatinga hoist by remote control.

Another object of my invention is to utilize labor associated with a power hoist more efllciently.

Anotherobject of my invention is to provide improved remote control method and apparatus for a power hoist.

Other aspects, objectsand the advantages of my invention are apparent in the written description, the drawing and the claim.

According to my invention, a power-operated hoist is provided with a portable remote control unit. Further according to my invention, the combination of a power hoist and a remote control unit comprises a hoist boom, pressure fluid means toextend and' retract the boom longitudinally, to swing the boom through a horizontal arc, to raise and lower the boom through a vertical arc and to turn the hoist winch drum, a portable control box connectedv with the hoist by a flexible conduit, actuating means for each of the pressure fluid means and means associated with the portable box for controlling the actuating means. Preferably, hydraulic cylinders are utilized to accomplish the various movements of the hoist. boom and a hydraulic motor is used to power the winch drum. Further accordingto my invention, electrical circuits are provided and electrically-operated,valves utilized to provide remote control of the pressure fluidmeans. Preferably, speed control means are provided for the hoist power means and a clutch provided between the power means and the means driven by the power means to supply pres sure fluid to the various operating units, and means provided to control the speed control means and the clutch from the portable control box.

Further according to-my invention, there is provided a method for remotely controlling a hoist including the steps of applyingpressure. fluid to extend and retract the boom longitudinally, to swing the. boom through a horizontal arc, to swing the boom through a vertical are, and

to turn the winch drum and remotely controlling the ap plication of pressure fluid to perform the various move ments of the crane by transmitting actuation signals through a flexible signal transmission zone. Preferably, the pressure is applied by hydraulic fluid and the actuation signals are electrical.

In the drawing:

FIGURE 1 is a perspective view of my invention applied to a pipe-hauling means including a hydraulically actuated crane, and illustrating the use of a portable control box.

FIGURE 2 is a schematic diagram illustrating hydraulic, air and electrical circuits for the operation of a crane such as the one illustrated in FIGURE 1.

In the embodiment of my invention illustrated'in FIG- URE 1, a truck-tractor 1i) is-connected with a float trailer 11 and carries a crane 12. As illustrated in FIGURE 2, the tractor engine 13 is connected through a clutch l4, transmission 15, power takeoff 16 and power takeoff 17 with hydraulic pump 18 and hydraulic'pump 19.

A cylinder 20 within boom 21 extends and retracts boom 21 longitudinally. A cylinder 22 swings boom 21 through a horizontal arc. Cylinder 23 swings boom 21 through a vertical arc. Hydraulic motor 24 through a suitable transmission turns winch drum 25. The actuation of hoist 21 by cylinders 20, 22 and 23, and the operation of winch drum 25 by hydraulic motor 24 can be accomplished as illustrated in US. 2,961,102, and the details of suitable mechanical linkages employed to provide the desired movements by means of the hydraulic units are explained-therein. However, other linkages can be employed. For example, especially with larger sizes of hoists, cylinder 20 can be placed horizontal and provided with a pulley on each end to pull a wire rope wrapped around a radial member to produce the lateral-movement of the boom.

The unit operator is provided with a portable control box 31 which is connected to the crane control system by a flexible conduit 32. Hoisting. line 33 isreeled on winch drum 25 and sling34 is carried on the end of line 33. A pair of hooks 36 are attached at. the ends of sling 34, thus providing means to lift a section. of pipe 37. Of course, sling 34 need not be used in all operations, but the winch line itself or other type of attaching means can be used. A pair of Outriggers 38 are provided on tractor 10 and are actuatedby hydraulic cylinders 99 and 101 to stabilize truck 10 during hoisting operations. These Outriggers are operated from a pair of control levers at truck 10.

As shown more clearly in FIGURE 2, control box 31 is provided with single-pole, double-throw toggle switches 41, 42, 43 and 44, and a pair of single-pole, single-throw toggle switches 46 and 47. One terminal 48 of switch- 41 completes a circuit to relay 52' and a second terminal 51 completes a circuit through'relay 49. Similarly,.switch.

42' has a pair of terminals 53 and 54 which complete cir cuits to relays 56 and 57, respectively; switch 43'has terminal 58 and 59 which completes circuits to relays 61 and 62 respectively; switch 44 has terminal 63 and 64- which completes circuits to relays 66 and 67, respectively; switch 46 completes a circuit through the relay 68'; and switch 47 completes a circuit through relay 69'.

Relays 49 and 52 control the circuitsv to solenoid actuators 71 and 72, respectively of valve 73 and'thus control the supply of hydraulic fluid to extend and'retract cylinder 22. Similarly, relays 56 and 57 control solenoid actuators 74 and 76 of valve 77 to control the supply of .hydraulic fluid to extend and retract cylinder 23; relays 61 and 62 control solenoid actuators 78 and 79 of valve 81 to control. the. supply of hydraulic. fluid to extend and retract cylinder 20. Relays 66 and 67 control solenoid actuators 82 and 83 of valve of hydraulic fluid to motor 24 to turn motor 24 forward and backward.

Relay 68 controls solenoid actuator 86 of the valve 87 and relay 69 controls solenoid actuator 88 of valve 89. Clutch 14 is actuated by air by means of air cylinder 90 to which air is supplied by means of solenoid valve 89 from air compressor 95 which is driven by engine 13, for example by a V-belt drive (not shown). Preferably, clutch 14 normally engaged and is disengaged by cylinder 90. Speed control of engine 13 is by means of air cylinder 100W'hich is connected with a throttle control (not shown), the air supply being re ulated by valve 87 from air compressor 95. Preferably cylinder 100 has a mechanical stop in the desired high speed position so that the speed control referred to is two-position, that is idling, with no air supply to cylinder 100 and a higher speed with air supplied to this cylinder.

' Valves 73, 77 and 81 can be solenoid powered valves but preferably are solenoid actuated, hydraulically powered valves. Suitable valves forthis operation include the Denison DID-063-363 CA double solenoid controlled,

pilot operated, four-way valve manufactured by Denison Engineering Division of American Brake Shoe Company,

Columbus, Ohio. Valve 84 can be a Denison D1DO63-.

361 double solenoid controlled, pilot operated,four-way valve. In all instances the pilot operated valves utilize the same source of hydraulic fluid under pressure as is used for the corresponding member of'the crane.

Each of relays 49, 52, 56, 57, 61, and 62 also completes a circuit through relay 91 which controls a circuit to solenoid actuator 92 of vent valve 93. Suitably, valve 93 can be a Denison D1P-02l-343 BK solenoid controlled, pilot operated, two-way valve. Hydraulic pumps 18 and 19 both are connected to withdraw hydraulic fluid from reservoir 94. Pump 18 supplies hydraulic fluid under pressure to valves 73,77, 81, 96 and 97, pressure relief being pr,o-' vided through valve 93 at all times except when solenoid actuator 92 is energized. When solenoid actuator 92 of valve 93 is energized, valve 93 is closed and the only outlet for fluid under pressure is through relief valve 98 which is set for the desired hydraulic operating pressure. Each of valves 96 and 97 is a four-way manually operated valve to control the supply of hydraulic fluid to extend and retract outrigger cylinders 99 and101,.respectively. A pair of switches 102 and 103 complete circuits to solenoid actuators 88 and 92, respectively for actuation of clutch 14 and vent valve 93, when the Outriggers are being extended.

Pump 19 supplies hydraulic fluid under pressure through valve 84 to operate motor 24. No vent valve is provided in this circuit, the only direct return to reservoir 94 being through relief valve 104 which prevents excessive pressure on this portion of the hydraulic system. However, when valve 84 is centered fluid circulates through this valve back to reservoir 94.

When the above-described unit is to be placed in operation, the unit operator drives truck-tractor to the desired location and stops with engine 13 idling. For normal operation clutch 14 is engaged continuously. However, either of two switches, 47 or 102, can be. used to disengage the clutch. Either of these switches completes a circuit to solenoid 88 of valve 89 to supply air to cylinder 90. Switch 102 is a convenient means to disengage clutch 14 to permit engagement of power takeoff 16 and power takeoff 17. Switch 47 is on the portable control box 31, avail 84 to control the supply i one end of a piece of pipe which it is desired to pick up, and insert one hook 36 of sling 34 while his assistant in sorts the other hook 36. With the two hooks placed the operator can, from that position, actuate switch 44 to wind 'a portion of hoisting line 33 on winch drum 25. Switches 41, 42, and 43 can then be utilized to actuate the correspondingrelays and cylinders to move. boom 21 in a horizontal arc and/or a vertical arc and/ or to telescope boom 21 to position the pipe in the desired location, following which, switch 44 can then be actuated to move winch drum to payout suflicient hoisting line 33 to lower the pipe into the desired position, for example, on float trailer 11.

To permit manual operation of the crane for very precise placement of loads, for example locating a fly wheel for placement on a shaft, etc., vent valve 106 is placed in series with vent valve 93. Valve 106 is a manually operated, normally open needle valve which permits very close adjustment of the flow through vent'valve 93 and therefore of the pressure applied to a given component.

For this type of operation it is necessary to disable the circuit, which normally causes valve 93 to close and this is accomplished through the use of'a switch 107 in the circuit to solenoid actuator 92. In normal operation switch 107 is closed so that valve 93 is closed each time switch 41, 42, or 43 is used to energize one of the crane operating cylinders. However, when it is desired to utilize valve 106 for very accurate placement of a load, switch 107 is opened manually and the portable control box 31 is moved to the location of valve 106 which preferably is at a location on the crane unit from which the operator has an unobstructed view of the placement location. With switch 107 open and with one of switches 41, 42,0r 43 closed the corresponding hydraulic actuating cylinder does not move since the hydraulic pressure fluid from pump 18 is flowing free through valve 93 back to reservoir 94. With the system in this condition, valve 106 is actuated manually to provide very slow and precisely controlled movement of the hydraulic cylinder and thus of the crane boom.

Although my invention has been described in connection with a truck mounted crane, it is also useful with other types of hoists, for'example, va stationary or ship mounted hoist, where many of the same advantages due to freedom of movement of the operator can be realized. The flexible conduit 32 used to connect control box 31 I with the crane can be for pressure fluid or electrical signals or part pressure fluid and part electrical signals, the word conduit being used in a generic sense to apply to either or both. 1

Although in most instances a winch drum type of hoist is used, my invention is also applicable to a hoist utilizing a line actuated by a hydraulic cylinder or other fluid cylinder. According to my invention more than one control box can be provided, so, that control'can be exercised from more than one position.

Reasonable variations and mod1ficat1on are possible within the scope. of my invention which sets forth method 7 and apparatus for controlling the actuation of power units able for emergency operation if needed. With switch 103 closed to close vent valve 93, the operator then actuates manual valves 96 and 97. Pressure builds up in the cir-f cuit and extends cylinders 99 and 101 and the corresponding Outriggers 38. The operator then straps remote control box 31 in position on his chest, unreels flexible conof a power hoist remotely from a portable; box connected to the hoistby a flexible conduit.

I claim: i A remotely controlled crane comprising:- I a boom; f V j a first hydraulic cylinder to extend and retract said boom longitudinally; a second hydraulic cylinder to swing said boom through a horizontal are; L j a third hydraulic cylinder to raise and lower sa1d boom through a vertical are; a winch drum; .a hydraulic motor to turn said drum; i a first hydraulic pump for supplying pressure fluid to saidfirst, second and third hydraulic cylinders; a second hydraulic pump for-supplying pressure fluid to said hydraulic motor; I p power means to drive said hydraulic pumps;

a portable control box connected with said crane by a flexible electrical cable;

a first electrically actuated valve to supply hydraulic fluid from said first hydraulic pump to said first hydraulic cylinder;

a second electrically actuated valve to supply hydraulic fluid from said first hydraulic pump to said second hydraulic cylinder;

21 third electrically actuated valve to supply hydraulic fluid from said first hydraulic pump to said third hy draulic cylinder;

a fourth eelctrically actuated valve to supply hydraulic fluid from said second hydraulic pump to said hydraulic motor;

a first switch carried by said box to actuate an electrical circuit for said first valve;

a second switch carried by said box to actuate an electrical circuit for said second valve;

a third switch carried by said box to actuate an electrical circuit for said third valve;

a fourth switch carried by said box to actuate an electrical circuit for said fourth valve;

pressure relief means in a return line for said first hydraulic pump;

electrically actuated means to close said pressure relief means;

means actuated by said first, second and third switches to operate said electrically actuated means;

disabling means to disable said means actuated by said first, second and third switches whereby said electrically actuated means remains open when said first, second and third switches are actuated;

manually actuated means to gradually close said return line;

speed control means for said power means;

actuating means for said speed control means;

a control member carried by said box to actuate said speed control means;

clutch means between said power means and said hydraulic pump;

actuating means for said clutch means; and

a clutch control member carried by said box to actuate said actuating means for said clutch means.

References Cited in the file of this patent UNITED STATES PATENTS 1,064,765 Pearson June 17, 1913 2,254,083 Nickles et a1 Aug. 26, 1941 2,643,515 Harsch June 30, 1953 2,786,583 Garrison Mar. 26, 1957 2,961,102 Pitman Nov. 22, 1960 3,051,323 Kuhlenschmidt et a1 Aug. 28, 1962 

